US 12,263,600 B2
Calibration method and apparatus for industrial robot, three-dimensional environment modeling method and device for industrial robot, computer storage medium, and industrial robot operating platform
Wan Ding, Shanghai (CN); Liupeng Yan, Shanghai (CN); and William Wang, Shanghai (CN)
Assigned to Robert Bosch GmbH, Stuttgart (DE)
Appl. No. 17/753,518
Filed by Robert Bosch GmbH, Stuttgart (DE)
PCT Filed Sep. 6, 2019, PCT No. PCT/CN2019/104732
§ 371(c)(1), (2) Date Mar. 4, 2022,
PCT Pub. No. WO2021/042376, PCT Pub. Date Mar. 11, 2021.
Prior Publication US 2022/0331969 A1, Oct. 20, 2022
Int. Cl. B25J 9/16 (2006.01); G01B 11/03 (2006.01); G06T 17/05 (2011.01)
CPC B25J 9/1692 (2013.01) [B25J 9/1605 (2013.01); G01B 11/03 (2013.01); G06T 17/05 (2013.01); G06T 2207/10024 (2013.01)] 19 Claims
OG exemplary drawing
 
4. A three-dimensional environment modeling method for an industrial robot, comprising:
based on color and depth information of a surrounding environment of the industrial robot, performing three-dimensional modeling of the surrounding environment of the industrial robot, so as to obtain an environment model;
calibrating a coordinate system of the environment model to a base coordinate system of the industrial robot; and
obtaining a workbench model of the industrial robot, at least by performing grid cropping and filling of the calibrated environment model,
wherein the calibrating the coordinate system of the environment model to the base coordinate system of the industrial robot comprises:
receiving a first model of the industrial robot, wherein the first model is synchronized with a pose state of the industrial robot located at a specific position in an actual environment;
receiving the environment model, the environment model comprising a second model of the industrial robot;
obtaining registration information of the second model, at least by selecting at least three corresponding non-collinear point pairs in the first model and the second model to perform registration; and
based on the registration information, calibrating the coordinate system of the environment model to the base coordinate system of the industrial robot.